Diff: 05_TrajectoryTracking/purePursuit.h

Revision:

19:7345688260b2

Parent:

11:49344285c82a

--- a/05_TrajectoryTracking/purePursuit.h	Tue May 17 06:23:45 2016 +0000
+++ b/05_TrajectoryTracking/purePursuit.h	Tue Jun 07 03:48:56 2016 +0000
@@ -10,28 +10,34 @@
 public:
 
     purePursuit();
-    
+
+    /// generate velocity (mm/s) and omega (rad/s) for diff drive to track
     void GenVW(float* purePursuit_velocity, float* purePursuit_omega,
-               float target_waypoint[2], float target_velocity, 
+               float target_waypoint[2], float target_velocity,
                float current_position[2], float current_heading);
-               
-    float robotFrame_targetDistance;   
+
+    /// generate velocity (mm/s), gamma (rad) and omega (rad/s) for non-linear controller to track
+    void GenVGW(float* purePursuit_velocity, float* purePursuit_gamma, float* purePursuit_omega,
+                float target_waypoint[2], float target_velocity,
+                float current_position[2], float current_heading);
+
+    float robotFrame_targetDistance;
     float purePursuit_headingE;
     float purePursuit_ld;
-    float purePursuit_r;        
+    float purePursuit_r;
 
 private:
-    static float const ld_min = 100.0; //min purepursuit lookahead distance
-    static float const ld_max = 1000.0; //max purepursuit lookahead distance
-    static float const trackingLimit = 150.0; //purepursuit will track only until the target distance is greater than this limit
-    
+    static float const ld_min = 200.0; //min purepursuit lookahead distance
+    static float const ld_max = 2000.0; //max purepursuit lookahead distance
+    static float const trackingLimit = 50.0; //purepursuit will track only until the target distance is greater than this limit
+
     static float const drive_minV = driveTrain_minV;
     static float const drive_maxV = driveTrain_maxV;
-    
+
     static float const purePursuit_omega_limit = DEG_TO_RAD(90);
-    
+
     float robotFrame_targetPos[2];
-    
+
 };